Side gripping mechanism and device handlers having same

ABSTRACT

An apparatus comprises a cavity coupled to a pneumatic controller configured to control pressure in the cavity; a piston configured to be pulled into the cavity when pressure in the cavity is below atmospheric pressure and to be pushed outward when pressure in the cavity is greater than atmospheric pressure; and a gripper arm mechanically coupled to the piston. The gripper arm may be configured to support a device under test. The gripper arm may be coupled to the piston through a pusher bar. The apparatus may further comprise a pneumatic control port; and a pneumatic bleed port. The pneumatic control port is coupled to the cavity, and the pneumatic bleed port is configured to bleed pneumatic pressure to atmosphere if the piston over-travels a predetermined position.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a Continuation of U.S. patent application Ser. No.13/049,578, filed Mar. 16, 2011 (U.S. Pat. No. 8,740,202, issued on Jun.3, 2014), which is based on U.S. Provisional Application Nos.61/315,365, filed Mar. 18, 2010 and 61/314,993, filed Mar. 17, 2010, thecontents of which are hereby incorporated by reference into the presentdisclosure.

FIELD OF THE INVENTION

The present invention relates generally to the field of device handlersand, more particularly, to device handlers with an improved mechanismfor gripping the device, such as an integrated circuit (IC) device.

BACKGROUND OF THE INVENTION

This section is intended to provide a background or context to theinvention that is recited in the claims. The description herein mayinclude concepts that could be pursued, but are not necessarily onesthat have been previously conceived or pursued. Therefore, unlessotherwise indicated herein, what is described in this section is notprior art to the description and claims in this application and is notadmitted to be prior art by inclusion in this section.

In testing electronic components, such as integrated circuit (IC)devices, a testing apparatus is often used to assess a component'sperformance. In this regard, a device handler may hold the device abovea testing apparatus, such as an electrical tester and in contact with athermal conditioning apparatus for device temperature control.

Existing devices use mechanisms such as suction cups to hold the devicefrom above. FIG. 1 illustrates one such device 100 with suction cups110. The suction cups must be positioned to avoid “keep out” zones onthe IC device. This can result in the IC devices setting aside valuablespace to accommodate the suction cups, space that may be otherwise usedfor additional circuitry.

SUMMARY OF THE INVENTION

In one aspect, an apparatus comprises a cavity coupled to a pneumaticcontroller configured to control pressure in the cavity; a pistonconfigured to be pulled into the cavity when pressure in the cavity isbelow atmospheric pressure and to be pushed outward when pressure in thecavity is greater than atmospheric pressure; and a gripper armmechanically coupled to the piston.

In one embodiment, the gripper arm is configured to support a deviceunder test.

In one embodiment, the gripper arm is coupled to the piston through apusher bar.

In one embodiment, the apparatus further comprises a pneumatic controlport; and a pneumatic bleed port. In one embodiment, the pneumaticcontrol port is coupled to the cavity. In one embodiment, the pneumaticbleed port is configured to bleed pneumatic pressure to atmosphere ifthe piston over-travels a predetermined position.

BRIEF DESCRIPTION OF THE DRAWINGS

Embodiments of the invention are described by referring to the attacheddrawings, in which:

FIG. 1 is top view of a conventional apparatus;

FIG. 2 is a top view of an apparatus in accordance with embodiments ofthe present invention;

FIG. 3A illustrates a left side view of the apparatus of FIG. 2;

FIG. 3B illustrates a rear view of the apparatus of FIG. 2;

FIG. 3C illustrates a top view of the apparatus of FIG. 2;

FIG. 3D illustrates a front view of the apparatus of FIG. 2;

FIG. 3E illustrates a right side view of the apparatus of FIG. 2;

FIG. 3F illustrates a bottom view of the apparatus of FIG. 2;

FIG. 4 is an exploded view of the apparatus of FIG. 2;

FIG. 5A illustrates a top view showing the pneumatic control routing ofthe apparatus of FIG. 2;

FIG. 5B illustrates a cross-sectional view showing the pneumatic controlrouting of the apparatus of FIG. 2 along the section A-A;

FIG. 5C illustrates a cross-sectional view showing the pneumatic controlrouting of the apparatus of FIG. 2 along the section B-B;

FIG. 5D illustrates an enlarged view of a portion of FIG. 5B showing thepneumatic control routing of the apparatus of FIG. 2;

FIG. 6A illustrates a rear view of the apparatus of FIG. 2;

FIG. 6B illustrates a cross-sectional view of the apparatus of FIG. 2along the section C-C with the gripper in an open position;

FIG. 6C illustrates a cross-sectional view of the apparatus of FIG. 2along the section F-F with the gripper in an open position;

FIG. 6D illustrates an enlarged cross-sectional view of the apparatus ofFIG. 2 along the section C-C with the gripper in an open position;

FIG. 6E illustrates a cross-sectional view of the apparatus of FIG. 2along the section C-C with the gripper holding a device;

FIG. 6F illustrates a cross-sectional view of the apparatus of FIG. 2along the section F-F with the gripper holding a device;

FIG. 6G illustrates an enlarged cross-sectional view of the apparatus ofFIG. 2 along the section C-C with the gripper holding a device;

FIG. 6H illustrates a cross-sectional view of the apparatus of FIG. 2along the section C-C with the gripper in a closed position withoutholding a device;

FIG. 6I illustrates a cross-sectional view of the apparatus of FIG. 2along the section F-F with the gripper in a closed position withoutholding a device;

FIG. 6J illustrates an enlarged cross-sectional view of the apparatus ofFIG. 2 along the section C-C with the gripper in a closed positionwithout holding a device;

FIG. 7A illustrates a side view of the apparatus of FIG. 2 integratedwith a thermal conditioning apparatus;

FIG. 7B illustrates a top view of the apparatus of FIG. 2 integratedwith a thermal conditioning apparatus;

FIG. 7C illustrates a cross-sectional view of the apparatus of FIG. 2integrated with a thermal conditioning apparatus along the section I-I;

FIG. 7D illustrates an enlarged cross-sectional view of the apparatus ofFIG. 2 integrated with a thermal conditioning apparatus along thesection I-I; and

FIGS. 8 and 9 illustrate different embodiments of the gripper arm forthe apparatus of FIG. 2.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

In the following description, for purposes of explanation and notlimitation, details and descriptions are set forth in order to provide athorough understanding of the present invention. However, it will beapparent to those skilled in the art that the present invention may bepracticed in other embodiments that depart from these details anddescriptions.

In accordance with embodiments of the present invention, a grippingapparatus is provided which substantially reduces the need for space onthe IC device.

FIG. 2 is a top view of an apparatus 200 in accordance with embodimentsof the present invention, and FIGS. 3A-3F illustrate various views ofthe apparatus 200. In the illustrated embodiment, the apparatus 200 doesnot include any suction cups. Instead, as described in greater detailbelow, the apparatus 200 includes gripper arms 204 that grip an ICdevice 304 substantially on the sides and reduce contact with either thetop or bottom surfaces. The apparatus 200 may be integrated with atesting apparatus, such as a thermal head 302, as described in greaterdetail below with reference to FIGS. 7A-7D.

Referring now to FIG. 4, an exploded view of the apparatus of FIG. 2 isillustrated. The apparatus 200 includes a main housing 202 configured toaccommodate the various components associated with a gripper mechanism.Further, the housing 202 may be configured to be integrated with atesting device. The housing 202 may be formed of a variety of materials,including plastic or metal.

The apparatus 200 includes a plurality of gripper arms 204 configured toengage a device, such as an IC device 304, and hold it in a testingposition. In the illustrated embodiment, the apparatus 200 is providedwith four gripper arms 204. Two gripper arms 204 are provided on each oftwo opposing sides. For purposes of clarity, only two gripper arms 204on one of the two opposing sides are shown in FIG. 4. In otherembodiments, a different number of gripper arms 204 may be provided.

A pre-load bar 206 and a pusher bar 208 are provided to actuate andlimit movement of the gripper arms 204. In the illustrated embodiment,one pre-load bar 206 and one pusher bar 208 are provided to correspondwith two gripper arms 204 on one side.

The pusher bars 208 are mechanically coupled to pusher pistons 210. Inthe illustrated embodiment, a single pusher piston 210 is provided foreach gripper arm 204, with two pusher pistons 210 being coupled to eachpusher bar 208. Again, for purposes of clarity, only the pusher pistons210 on one side of the apparatus 200 are illustrated in FIG. 4. In otherembodiments, the number of pistons may be more or less than thatprovided with the illustrated embodiment. For example, in oneembodiment, a single piston may be provided to actuate the pusher bar208, which in turn actuates two gripper arms 204.

As will be described later with reference to FIGS. 5A-5D, the apparatus200 includes pneumatic control routing for control and actuation of thegripper arms 204. The pneumatic control routing is formed on theunderside of the apparatus 200. In order to seal the pneumatic controlrouting, a pneumatic seal 214 and a backing plate 212 are secured to theunderside.

Further, in order to provide proper contact of an IC device 304 to atesting apparatus, the apparatus 200 allows independent floatation ofeach gripper arm 204. In this regard, a series of gimbal springs, suchas spiral springs 216, are provided for each gripper arm 204.

Referring now to FIGS. 5A-5D, various views of the apparatus 200illustrate the pneumatic control routing of the apparatus 200. In FIG.5A, a bottom view of the apparatus 200 with the pneumatic seal 214 andthe backing plate 212 removed on one side is illustrated. As illustratedin this view, the apparatus 200 includes pneumatic control holes 218corresponding to each pusher piston 210. Pneumatic routing 220 leadsfrom each pusher piston 210 location to a controller (not shown).

An enlarged view of the portion of the device containing a pusher piston210 is illustrated in FIG. 5D. Thus pusher piston 210 is positioned toslide in a cavity formed in the housing 202. The pusher piston 210engages the pusher bar 208 within the cavity. Thus, as the pusher piston210 slides within the cavity, the pusher bar 208 is moved forward orbackward. The movement of the pusher bar 208, in turn, causes thegripper arms 204 to move forward and backward.

The cavity within which the pusher piston 210 slides includes a vacuumcavity 222 coupled to a pneumatic control port 218 a. Thus, when apneumatic controller generates a vacuum in the vacuum cavity 222 throughpneumatic control port 218 a, the pressure differential between thevacuum cavity 222 and the external atmosphere causes the pusher piston210 to move inward (to the left in FIG. 5D). Conversely, when thecontroller generates a pressure greater than atmospheric pressure in thevacuum cavity 222, the pusher piston 210 is moved outward (to the rightin FIG. 5D). As noted above, the movement of the pusher piston 210causes corresponding movement of the pusher bar 208, which in turncauses corresponding movement of the gripper arms 204.

In addition to providing pneumatic control of the gripper arms 204, theapparatus 204 also allows for detection of the position of the gripperarms 204 through measurement of pneumatic pressure. FIGS. 6A-6Jillustrate cross-sectional views of the apparatus of FIG. 2 with thegripper in an open position (FIGS. 6B-6D), holding a device 304 (FIGS.6E-6G), and in a closed position without holding a device (FIGS. 6H-6J).

Referring to the open position (FIGS. 6B-6D), the pusher piston 210 ispositioned such that a pneumatic bleed port 218 b is positioned to theinside of a U-ring seal 224 positioned around the pusher piston 210. Inthis position, the U-ring seal 224 prevents leakage of pneumaticpressure (or vacuum) to the atmosphere.

Referring now to the “holding device” position (FIGS. 6E-6G), the pusherpiston 210 is position such that the pneumatic bleed port 218 b ispositioned at the U-ring seal 224. Again, in this position, the U-ringseal 224 prevents leakage of pneumatic pressure (or vacuum) to theatmosphere.

If the pneumatic controller generates a vacuum in the vacuum cavity 222but no IC device 304 is to held by the gripper arms 204, the pusherpiston 210 over-travels the closed position, as shown in FIGS. 6H-6J. Inthis position, the pneumatic bleed port is positioned on the outside ofthe U-ring seal 224. Pneumatic pressure may then leak through thepneumatic bleed port 218 b to the atmosphere (to the right of the pusherpiston 210). The pneumatic control system may detect the loss inpneumatic pressure and conclude the over-travel of the pusher piston210.

Referring now to FIG. 7, the apparatus 200 is illustrated as integratedwith a thermal conditioning apparatus 300. As shown in the detailedillustration in FIG. 7D, the gripper arms 204 hold a device under test(DUT) 304 in contact with a thermal conditioning apparatus, such as athermal head 302.

FIGS. 8 and 9 illustrate different embodiments of the gripper arm 204for the apparatus 200. Referring first to FIG. 8, the gripper arm 204 isprovided with a small ledge 226. Thus, the gripper arm 204 engages theDUT 304 substantially on the side of the DUT 304, but may provide somesupport from the bottom. This configuration is beneficial since itprovides support for the DUT 304 even if pneumatic vacuum fails, eitherpartially or completely.

Referring again to FIG. 5A, it is noted that pneumatic vacuum orpressure in the vacuum cavity 222 is used to cause the pusher piston 210to move. In the event of pneumatic failure, the cavity 222 goes toatmospheric pressure. Thus, both sides of the pusher piston 210 arebalanced at atmospheric pressure. There is no force causing the pusherpiston 210 to move outward and, therefore, no force causing the gripperarm 204 to disengage the DUT 304.

Referring now to FIG. 9, the gripper arm 204 is provided with a serratededge 228. In this configuration, the gripper arm 204 engages the DUT 304completely on the side of the DUT 304. The pneumatic pressure issufficient to allow the gripper arms to support the DUT 304. Thisconfiguration has the benefit of completely freeing the top and bottomsurfaces of the DUT 304, thereby allowing full use of the DUT 304 forcircuitry and electronics, for example.

The foregoing description of embodiments has been presented for purposesof illustration and description. The foregoing description is notintended to be exhaustive or to limit embodiments of the presentinvention to the precise form disclosed, and modifications andvariations are possible in light of the above teachings or may beacquired from practice of various embodiments. The embodiments discussedherein were chosen and described in order to explain the principles andthe nature of various embodiments and its practical application toenable one skilled in the art to utilize the present invention invarious embodiments and with various modifications as are suited to theparticular use contemplated. The features of the embodiments describedherein may be combined in all possible combinations of methods,apparatus, modules, systems, and computer program products.

1.-6. (canceled)
 7. A method comprising: providing an apparatuscomprising at least one gripper arm configured to grip a device,gripping the device with the at least one gripper arm by generating avacuum that moves the at least one gripper arm in a first directiontowards the device, releasing the device by generating a pressuregreater than atmospheric pressure that moves the at least one gripperarm in a second direction away from the device.
 8. The method of claim7, wherein the apparatus includes at least four of the gripper armsincluding at least two gripper arms corresponding to each of twoopposing sides of the device.
 9. The method of claim 7, wherein thedevice is an electronic component.
 10. The method of claim 9, whereinthe apparatus further comprises a thermal head configured to contact theelectronic component while the electronic component is gripped by the atleast one gripper arm.
 11. The method of claim 7, wherein the apparatusfurther comprises: a housing, a cavity formed in the housing, and atleast one piston operatively coupled to the at least one gripper arm,and wherein the device is gripped by generating the vacuum in the cavityso as to move the at least one piston in the first direction, andwherein the device is released by generating the pressure greater thanatmospheric pressure in the cavity so as to move the at least one pistonin the second direction.
 12. The method of claim 11, wherein theapparatus includes at least two of the gripper arms, the at least twogripper arms being coupled by a pusher bar, and wherein the at least onepiston is operatively coupled to the at least two gripper arms via thepusher bar.
 13. The method of claim 12, wherein the apparatus furthercomprises at least two spiral springs, one for each gripper arm, thespiral springs being configured to provide independent flotation of eachgripper arm.
 14. The method of claim 7, wherein the device is anelectronic component, and wherein the method further comprises, aftergripping the electronic component and before releasing the electroniccomponent, moving the electronic component to an electrical tester fortesting while maintaining the vacuum.
 15. The method of claim 7, whereinthe at least one gripper arm includes a ledge configured such that, ifvacuum in the cavity fails, the at least one gripper arm still providessupport for the device.
 16. A method comprising: providing an apparatuscomprising: a housing, a cavity formed in the housing, at least onegripper arm, at least one piston operatively coupled to the at least onegripper arm, and a pneumatic control port coupled to the cavity;providing a pneumatic controller configured to (i) generate a pressurein the cavity via the pneumatic control port to thereby move the pistonand the at least one gripper arm, and (ii) detect the pressure in vacuumcavity portion; and determining, when a pressure is generated in thevacuum cavity portion, whether a device is held by the gripper arm,based on the pressure detected by the pneumatic controller.
 17. Themethod of claim 16, wherein the apparatus further comprises a pneumaticbleed port coupled to the cavity, the pneumatic bleed port beingconfigured such that the cavity bleeds pressure through the pneumaticbleed port when the piston travels past a predetermined position in thecavity, and wherein the determination of whether a device is held by thegripper arm is determined based on whether the piston travels past thepredetermined position, thereby causing a change in pressure in thecavity.
 18. The method of claim 16, wherein the apparatus includes atleast four of the gripper arms including at least two gripper armscorresponding to each of two opposing sides of the device.
 19. Themethod of claim 16, wherein the device is an electronic component. 20.The method of claim 16, wherein the apparatus further comprises athermal head configured to contact the electronic component while theelectronic component is gripped by the at least one gripper arm.
 21. Themethod of claim 16, wherein the apparatus includes at least two of thegripper arms, the at least two gripper arms being coupled by a pusherbar, and wherein the at least one piston is operatively coupled to theat least two gripper arms via the pusher bar.
 22. An apparatuscomprising: a housing, a cavity formed in the housing, at least twogripper arms coupled to one another via a pusher bar, and at least onepiston disposed in the cavity and coupled to the pusher bar such thatmovement of the piston causes movement of the at least two gripper arms.23. The apparatus of claim 22, wherein the pusher bar extends through anopening formed in each of the at least two gripper arms.
 24. Theapparatus of claim 22, wherein the at least one piston is coupled to thepusher bar via a groove formed in the at least one piston.
 25. Theapparatus of claim 22, wherein the at least one piston comprises aplurality of pistons that are coupled to the pusher bar.
 26. Anapparatus comprising: at least one gripper arm configured to grip a sidesurface of an electronic device, wherein the at least one gripper armincludes a serrated edge on a surface of the at least one gripper armthat is configured to contact the side surface of the electronic device.